Formation and control of optimal trajectory in human multijoint arm movement

In this paper, we study trajectory planning and control in voluntary, human arm movements. When a hand is moved to a target, the central nervous system must select one specific trajectory among an infinite number of possible trajectories that lead to the target position. First, we discuss what criterion is adopted for trajectory determination. Several researchers measured the hand trajectories of skilled movements and found common invariant features. For example, when moving the hand between a pair of targets, subjects tended to generate roughly straight hand paths with bell-shaped speed profiles. On the basis of these observations and dynamic optimization theory, we propose a mathematical model which accounts for formation of hand trajectories. This model is formulated by defining an objective function, a measure of performance for any possible movement: square of the rate of change of torque integrated over the entire movement. That is, the objective function CT is defined as follows: (formula; see text) We overcome this difficult by developing an iterative scheme, with which the optimal trajectory and the associated motor command are simultaneously computed. To evaluate our model, human hand trajectories were experimentally measured under various behavioral situations. These results supported the idea that the human hand trajectory is planned and controlled in accordance with the minimum torque-change criterion.     

Change in Auditory Image Movement Trajectories under Conditions of Direct Nonsimultaneous Masking

The authors studied fused auditory image (FAI) movement trajectories under conditions of direct nonsimultaneous masking. This movement was created by a gradual change in a dichotically presented series of clicks with interaural differences in stimulation from 0 to ±700 s or from ±700 to 0 s. Binaurally presented transmissions of wide-band noise served as maskers. The location and length of the trajectories were evaluated without a masker and with five values of the time lag between the signal beginning and masker end. When the test signal duration was 200 ms, the length of the trajectories was 33–44° without a masker. In the first test group, this trajectory lay close to the median line of the head without a masker (irrespective of the movement direction) and moved away from it under masking conditions. When the FAI moved from the median line towards the right or left ear, the initial part of the trajectory was masked; when the movement direction was opposite, the final part was masked. In the second group, the trajectories were located near the ears when the FAI moved from either ear and shifted towards the median line as a result of masking. When the movement direction was opposite, they were close to the median line and shifted towards the ear under masking conditions. When the FAI moved along all trajectories, their initial parts were masked.     

Nest relocation in the slavemaking ants Formica subintegra and Formica pergandei: a response to host nest availability that increases raiding success

Social insects typically occupy spatially fixed nests which may thus constrain their mobility. Nevertheless, colony movements are a frequent component of the life cycle of many social insects, particularly ants. Nest relocation in ants may be driven by a variety of factors, including nest deterioration, seasonality, disturbances, changes in microclimate, and local depletion of resources. The colony movements of slavemaking ants have been noted anecdotally, and in recent studies such relocations were primarily attributed to nest deterioration or shifts to overwintering locations. In this study we explore nest relocations in large colonies of formicine slavemakers which occupy stable and persistent earthen nest mounds. We investigate the hypothesis that colony relocations of these slavemakers are best explained by efforts to improve raiding success by seeking areas of higher host availability. Five summers of monitoring the raiding behavior of 11–14 colonies of the slavemakers Formica subintegra and Formica pergandei revealed relatively frequent nest relocations: of 14 colonies that have been tracked for at least three of 5 years, all but one moved at least once by invading existing host nests. Movements tended to occur in the middle of the raiding season and were typically followed by continued raiding of nearby host colonies. Spatial patterns of movements suggest that their purpose is to gain access to more host colonies to raid: the distance moved is typically farther than the mean raiding distance before the move, which may indicate an effort to escape their local neighborhood. Furthermore, the mean distance of raids after relocation is shorter than the distance before relocation. For many slavemaking ant colonies, particularly those on the verge of relocating, raiding distance increased as the raiding season progressed. In addition, movements tended to be toward areas of higher local host density. Nest relocation is likely an important component of the ecology of slavemaking ants that contributes to the dynamic nature of their interaction with the host ant population.     

Foreign ant queens are accepted but produce fewer offspring

Understanding social evolution requires us to understand the processes regulating the number of breeders within social groups and how they partition reproduction. Queens in polygynous (multiple queens per colony) ants often seek adoption in established colonies instead of founding a new colony independently. This mode of dispersal leads to potential conflicts, as kin selection theory predicts that resident workers should favour nestmate queens over foreign queens. Here we compared the survival of foreign and resident queens as well as their relative reproductive share. We used the ant Formica exsecta to construct colonies consisting of one queen with workers related to this resident queen and introduced a foreign queen. We found that the survival of foreign queens did not differ from that of resident queens over a period of 136 days. However, the genetic analyses revealed that resident queens produced a 1.5-fold higher number of offspring than introduced queens, and had an equal or higher share in 80% of the colonies. These data indicate that some discrimination can occur against dispersing individuals and that dispersal can thus have costs in terms of direct reproduction for dispersing queens.     

Lévy-like movements in Japanese carpenter ants: Experimental and theoretical approaches

We conducted movement analysis using ant experiments and simulation models. In our experiments, Japanese carpenter ants showed Lévy-like movements when they were exposed to a bowl-shaped test container filled with other foragers. We also developed a one-dimensional multi-agent random walk algorithm. In our algorithm, agents interact with each other and change their probabilities of movements by locally anticipating other agents’ moving directions. Agents also modulate those probabilities on the basis of local information, thereby producing fluctuations in averaged local directional information. We were able to induce agents in our model to achieve Lévy-like movements. We also found that an agent occasionally moved or stayed together with another particular agent for a substantial duration in both experiments and simulations.     

The determinants of queen size in a socially polymorphic ant

In social animals, body size can be shaped by multiple factors, such as direct genetic effects, maternal effects, or the social environment. In ants, the body size of queens correlates with the social structure of the colony: colonies headed by a single queen (monogyne) generally produce larger queens that are able to found colonies independently, whereas colonies headed by multiple queens (polygyne) tend to produce smaller queens that stay in their natal colony or disperse with workers. We performed a cross‐fostering experiment to investigate the proximate causes of queen size variation in the socially polymorphic ant Formica selysi. As expected if genetic or maternal effects influence queen size, eggs originating from monogyne colonies developed into larger queens than eggs collected from polygyne colonies, be they raised by monogyne or polygyne workers. In contrast, eggs sampled in monogyne colonies were smaller than eggs sampled in polygyne colonies. Hence, eggs from monogyne colonies are smaller but develop into larger queens than eggs from polygyne colonies, independently of the social structure of the workers caring for the brood. These results demonstrate that a genetic polymorphism or maternal effect transmitted to the eggs influences queen size, which probably affects the social structure of new colonies.     

Seasonal spatial dynamics and causes of nest movement in colonies of the invasive Argentine ant (Linepithema humile)

Abstract.  1. Colony organisation and movement behaviour of the Argentine ant ( Linepithema humile ) was studied over 3 years in field populations in California and in captive colonies in the laboratory. This invasive species is highly polydomous and unicolonial; colonies consist of expansive and fluid networks of nests and trails. The spatial and temporal organisation of colonies may contribute to ecological dominance.
2. Argentine ant nests and inter-nest trails shift in size, abundance, and location, so that colony networks are spatially contracted in the winter and expanded spring to autumn. Colonies occupy permanent sites; ants migrated to and from the same winter nest locations year after year, and occupied 30% of the same nests repeatedly during seasonal migrations.
3. Nests were moved on average 2–3 m. Forty-two per cent were occupied less than 1 month, 4% the entire study, and the other 54% lasted 3.9 ± 2.3 months (mean ± SD).
4. Nests were located within 2–4 m of woody plants, in warm sites in the winter and cool sites in the summer. Both humidity and food availability influenced nest-site choice in laboratory colonies. However, when faced with a trade-off between factors, the ants chose humid nest boxes over nest boxes near food, and ants moved nests only in response to changes in humidity and not distance to food.
5. The results indicate that L. humile colonies are seasonally polydomous, and that nest movements are driven by changes in microclimate. Colony organisation maintains high local density and increases food supply, which may improve the competitive ability of L. humile colonies and reduce opportunities for species coexistence.     

Colony size affects collective decision-making in the ant Temnothorax albipennis

Social insects are well-known for their ability to achieve robust collective behaviours even when individuals have limited information. It is often assumed that such behaviours rely on very large group sizes, but many insect colonies start out with only a few workers. Here we investigate the influence of colony size on collective decision-making in the house-hunting of the ant Temnothorax albipennis. In experiments where colony size was manipulated by splitting colonies, we show that worker number has an influence on the speed with which colonies discover new nest sites, but not on the time needed to make a decision (achieve a quorum threshold) or total emigration time. This occurred because split colonies adopted a lower quorum threshold, in fact they adopted the same threshold in proportion to their size as full-size colonies. This indicates that ants may be measuring relative quorum, i.e. population in the new nest relative to that of the old nest, rather than the absolute number. Experimentally reduced colonies also seemed to gain more from experience through repeated emigrations, as they could then reduce nest discovery times to those of larger colonies. In colonies of different sizes collected from the field, total emigration time was also not correlated with colony size. However, quorum threshold was not correlated with colony size, meaning that individuals in larger colonies adopted relatively lower quorum thresholds. Since this is a different result to that from size-manipulated colonies, it strongly suggests that the differences between natural small and large colonies were not caused by worker number alone. Individual ants may have adjusted their behaviour to their colony’s size, or other factors may correlate with colony size in the field. Our study thus shows the importance of experimentally manipulating colony size if the effect of worker number on the emergence of collective behaviour is to be studied. Received 13 December 2005; revised 9 May 2006; accepted 15 May 2006.     

Sexual competition during colony reproduction in army ants

We review the unusual processes of sexual reproduction and colony fission in army ants and briefly compare this to reproduction in other ants.
Army ants are a polyphyletic group and are characterized by a syndrome of convergently evolved traits including large colony size, group foraging for large prey, nomadism, cyclical brood production and queens who are large and wingless. Because queens are flightless and never leave their colony, workers are in a position to choose which queen will take over each new colony. Males fly between colonies and must run the gauntlet of the workers in alien ones before they can approach the queen. For this reason, workers can also choose which males will inseminate their queen.
Army ant workers may therefore be involved in choosing both the matriarch and patriarch of new colonies. We suggest that this unusual form of sexual selection has led to the close resemblance of conspecific males and females in all the separate lineages of army ants. Males are queen-like in that they are large and robust, have long cylindrical abdomens, with exocrine glands of similar form and location to those of females and shed their wings when they enter new colonies. Furthermore, when males enter new colonies they are followed by an entourage of workers which resemble those that accompany queens. We suggest that males resemble queens not as a form of deceitful mimicry but because under the influence of sexual selection they have come to use the same channels of communication to demonstrate their potential fitness to the workforce as those used by queens.     

Effect of temperature and social environment on worker size in the ant Temnothorax nylanderi

Warm temperatures decrease insect developmental time and body size. Social life could buffer external environmental variations, especially in large social groups, either through behavioral regulation and compensation or through specific nest architecture. Mean worker size and distribution of worker sizes within colonies are important parameters affecting colony productivity as worker size is linked to division of labor in insect societies. In this paper, we investigate the effect of stressful warm temperatures and the role of social environment (colony size and size of nestmate workers) on the mean size and size variation of laboratory-born workers in the small European ant Temnothorax nylanderi. To do so, we reared field-collected colonies under medium or warm temperature treatments after having marked the field-born workers and removed the brood except for 30 first instar larvae. Warm temperature resulted in the production of fewer workers and a higher adult mortality, confirming that this regime was stressful for the ants. T. nylanderi ants followed the temperature size rule observed in insects, with a decreased developmental time and mean size under warm condition. Social environment appeared to play an important role as we observed that (i) larger colonies buffered the effect of temperature better than smaller ones (ii) colonies with larger workers produced larger workers whatever the rearing temperature and (iii) the coefficient of variation of worker size was similar in the field and under medium laboratory temperature. This suggests that worker size variation is not primarily due to seasonal environmental fluctuations in the field. Finally, we observed a higher coefficient of variation of worker size under warm temperature. We propose that this results from a disruption of social regulation, i.e. the control of nestmate workers over developing larvae and adult worker size, under stressful conditions.     

Recruitment Behavior During Foraging in the Neotropical Ant Gnamptogenys moelleri (Formicidae: Ponerinae): Does the Type of Food Matter?

Gnamptogenys moelleri nests in bromeliads and feeds on an array of food items, including dead and live animals, and nectar. Field data in Brazilian forests indicate that G. moelleri hunts solitarily, while retrieving is performed both by solitary workers for small items, or by a group of recruited workers for large items. This flexible foraging strategy was investigated in the laboratory through a series of experiments to assess the context in which recruitment is elicited. Three types of food were used: 50% honey solution, large insect prey, and cluster of small insects. For all food types the first encounter by a scout resulted in increased numbers of ants leaving the nest and finding the food in the arena. After finding liquid food or large prey, the forager returns to the nest and transmits information to nestmates about food location on the substrate. The successful scout repeatedly taps the sting on the ground, and recruited ants collectively retrieve the large insect to the nest. On the other hand, there is no transmission of information to nestmates about the location of small clumped prey, although the returning scout induces nestmates to leave the nest and hunt. Because foraging in G. moelleri is restricted mostly to the nest bromeliad, and small worker size (0.5 cm) precludes capturing large prey solitarily, recruitment behavior widens the spectrum of food items consumed by this ant species. Although recruitment behavior in ponerines has already been reported to vary with the type and size of a food source, this study also shows that the transmission of information about food location depends on the type of food found (large prey or liquid food versus cluster of small prey).     

Response of Argentine ants and red imported fire ants to permethrin-impregnated plastic strips: foraging rates, colonization of potted soil, and differential mortality

This study investigated the effects of the permethrin-impregnated plastic on ant mortality and foraging rates, and tested its potential for preventing ants from colonizing potted soil. Direct exposure to the plastic for as short as 1 min caused significant mortality of both red imported fire ants, Solenopsis invicta Buren, and Argentine ants, Linepithema humile (Mayr); however, red imported fire ants were more susceptible than Argentine ants. Knockdown of virtually all ants initially occurred within 15 min after exposure. However, some moribund ants recovered from the effects within 24 h. For example, after 1 min of direct exposure to the permethrin-impregnated plastic, 70% of Argentine ants and 5% of red imported fire ants recovered from the treatment. In established colonies of Argentine ants, significantly fewer ants foraged for food up posts treated with the plastic compared with untreated posts. In addition, colonies responded to introduction of the treatment by significantly reducing their overall foraging rates, even on untreated posts. When pots filled with moistened soil were introduced into established ant colonies, 82% of Argentine ants and 99% of red imported fire ants moved into the soil. In contrast, when a 1-cm-wide coil of the plastic was placed under the pot, no ants moved into the soil. The potential for use of these materials in nursery production is discussed.     

Diel changes in the movement patterns of Ganges River dolphins monitored using stationed stereo acoustic data loggers

We monitored the underwater movements of Ganges River dolphins using stationed stereo acoustic data loggers. We estimated these movements using changes in the relative angle of the sound source direction (trajectory). Of the total acoustic recordings (66 h), 26.2% contained trajectories of dolphins, and 78.6% of these trajectories involved single animals, suggesting that dolphins tended to swim alone and were localized near the monitoring station. The observed trajectories were categorized as follows: staying type characterized by small changes in the sound source direction, moving type A (moving in the same direction), and moving type B (moving up and down the stream during recording). The average interpulse intervals of sounds in moving types A and B were significantly shorter than that of the staying type, suggesting that dolphins produce the former types of trajectories to echolocate across shorter distances during movement. The frequency of occurrence of moving type A increased during the night, whereas that of type B increased in the late afternoon and that of the staying type increased during the daytime. These results indicate that dolphins moving at night tended to use short‐range echolocation, whereas during the day, they remained in relatively small areas and used long‐range sonar.     

Predatory behavior in the genusLeptogenys: A comparative study

We studied the predatory behavior of seven species of the genusLeptogenys from Mexico and Cameroon. The ants of this genus are armed with long, thin, curved mandibles articulated at the extreme corners of the anterior margin of the head, permitting them easily to seize oniscoid isopods, the obligate or the principal prey of mostLeptogenys species. Workers hunt these prey, which are able to roll themselves up, solitarily. Foraging behavior comprises sequences of up to eight activities. The prey can be seized by the body (rolled up or not), or alternatively by the edge of the shell, then turned over and stung on the ventral face. A relationship between the mandible size of the workers and the handling method permitted us to established that the phase “seizure by the edge of the shell” (compared to grasping the prey by the body) was more frequent as the prey size increased or the mandible length of the workers decreased. The rate of prey escape followed the same pattern. When a prey escaped, workers reacted by using a local searching or “reserve” behavior: they moved by increasing both sinuosity and speed. Recruitment occurred mainly after a worker found a group of prey or a large prey.L. mexicana are attractive at a distance to the isopods Bathytropidae living in the same natural environment. As a consequence, prey capture is possible without foraging for this species.     

Dispersal without drivers: Intrinsic and extrinsic variables have no impact on movement distances in a terrestrial amphibian

Dispersive movements are often thought to be multicausal and driven by individual body size, sex, conspecific density, environmental variation, personality, and/or other variables. Yet such variables often do not account for most of the variation among dispersive movements in nature, leaving open the possibility that dispersion may be indeterministic. We assessed the amount of variation in 24 h movement distances that could be accounted for by potential drivers of displacement with a large empirical dataset of movement distances performed by Fowler''s Toads (Anaxyrus fowleri) on the northern shore of Lake Erie at Long Point, Ontario (2002–2021, incl.). These toads are easy to sample repeatedly, can be identified individually and move parallel to the shoreline as they forage at night, potentially dispersing to new refuge sites. Using a linear mixed‐effect model that incorporated random effect terms to account for sampling variance and inter‐annual variation, we found that all potential intrinsic and extrinsic drivers of movement accounted for virtually none of the variation observed among 24 h distances moved by these animals, whether over short or large spatial scales. We examined the idea of movement personality by testing variance per individual toad and found no evidence of individuality in movement distances. We conclude that deterministic variables, whether intrinsic or extrinsic, neither can be shown to nor are necessary to drive movements in this population over all spatial scales. Stochastic, short time‐scale movements, such as daily foraging movements, can instead accumulate over time to produce large spatial‐scale movements that are dispersive in nature.     

Activity of descending contralateral movement detector neurons and collision avoidance behaviour in response to head-on visual stimuli in locusts

We recorded the activity of the right and left descending contralateral movement detectors responding to 10-cm (small) or 20-cm (large) computer-generated spheres approaching along different trajectories in the locust's frontal field of view. In separate experiments we examined the steering responses of tethered flying locusts to identical stimuli. The descending contralateral movement detectors were more sensitive to variations in target trajectory in the horizontal plane than in the vertical plane. Descending contralateral movement detector activity was related to target trajectory and to target size and was most sensitive to small objects converging on a direct collision course from above and to one side. Small objects failed to induce collision avoidance manoeuvres whereas large objects produced reliable collision avoidance responses. Large targets approaching along a converging trajectory produced steering responses that were either away from or toward the side of approach of the object, whereas targets approaching along trajectories that were offset from the locust's mid-longitudinal body axis primarily evoked responses away from the target. We detected no differences in the discharge properties of the descending contralateral movement detector pair that could account for the different collision avoidance behaviours evoked by varying the target size and trajectories. We suggest that descending contralateral movement detector properties are better suited to predator evasion than collision avoidance.     

Migratory behaviour of post-smolt Atlantic salmon during initial stages of seaward migration

The movements of 24 hatchery-reared Atlantic salmon Salmo salar smolts, with miniature acoustic transmitters (pingers) implanted surgically, were determined after release in the coastal waters of Passamaquoddy Bay (mean tide range 6 m), New Brunswick, Canada, to describe the first stages of seaward migration. Automated pinger detection at fixed sites, and pinger location and tracking by boat were used. Post-smolts left the release area rapidly, and the majority moved to open waters of the bay within several tidal cycles. Initially, post-smolts moved with a seaward orientation on ebb tides and held positions on flood tides. Their movements into open waters were diurnal, and the timing corresponded with the state of the tide during which they moved through a narrow channel. Post-smolts moved preferentially through this passageway with the aid of the tidal stream. Successful movements out through the channel occurred during ebb tides and any movements back in were during flood tides. Ground speed of fish moving through the channel was 4·2 body lengths s⁻¹ and faster than the tidal stream velocities in the channel. The relative velocity of fish swimming through the channel was 2 body lengths s⁻¹. Post-smolt movement was indicative of active, directed swimming with a reliance on ebb-tide transport for migration through a coastal area with strong tidal currents. Some post-smolts moved seaward directly with no apparent period of acclimation for the transfer to the marine environment, whereas others delayed their departure. These differences in behaviour were probably related to asynchrony in smolting when fish were released.     

红火蚁对新入侵龙眼园和荒草地蚂蚁类群多样性的影响

于2007年7月至2008年2月期间在增城龙眼园及周边的荒草地人工移殖1蚁巢及10蚁巢红火蚁,并采用陷阱法和诱饵诱集法调查研究红火蚁对新入侵龙眼园区和荒草地区蚂蚁类群多样性的影响。结果表明,在荫蔽、少干扰的龙眼园和杂草茂密、少干扰的未割草区,红火蚁难以成功定殖,对这两种生境蚂蚁类群的多样性几乎没有影响;在红火蚁成功定殖的1蚁巢割草区和10蚁巢割草区,红火蚁以这两种密度入侵对蚂蚁类群多样性的影响程度不同。在1蚁巢割草区,红火蚁入侵后5个月期间,由于其数量占蚂蚁个体总数的比例很少,对蚂蚁类群多样性的影响很小;在红火蚁成功定殖5个月后,第6—7个月其工蚁所占比例增加,蚂蚁类群个体数和优势度下降,多样性和均匀度增加;第8—9个月其工蚁所占比例继续增加,而蚂蚁个体数、多样性和均匀度下降,优势度增加。在10蚁巢割草区,红火蚁入侵后,蚂蚁类群个体数、多样性和均匀度下降,优势度增加。红火蚁入侵对1蚁巢割草区和10蚁巢割草区蚂蚁物种数的影响较小。     

Behavioral mechanisms of spatial competition between red wood ants (Formica aquilonia) and ground beetles (Carabidae)

Behavioral aspects of spatial competition between red wood ants (Formica aquilonia) and six mass species of Carabidae were studied in field and laboratory experiments. We showed that red wood ants essentially influence spatial distribution of ground beetles on their common territories. Transplantation experiments suggest that in newly established ants' settlements stronger forms of interrelations arise than in old stable colony. To examine the ability of beetles to avoid collisions with ants we used two experimental techniques. In laboratory, we tested carabids ability to avoid a clash in a Y-shaped labyrinth containing an active tethered ant in one section. In field experiments we compared quantitative characteristics of movements (such as crookedness of individual trajectories, speed of movement, the time spent on stops) for beetles placed close to ants foraging routes and on ant-free plots. All beetles studied displayed a clear tendency to learn, that is, to modity their behavior in order to avoid collisions with ants. Species that exhibited best parameters of learning were closer to ants by their size and characteristic movement, namely, Pterostichus oblogopunctatus and P. magus. Beetles' stereotyped behavioral tactics can be considered universal for avoiding collisions with any subject (for instance, with an ant) of a certain size and speed of movements. A set of tactics in the labyrinth included: (1) attempts to round the ant; (2) turns away after touching the ant with antennae; (3) turns away without a contact; (4) avoidances of a dangerous section; (5) stops near the ant with the antennae hidden. Comparing pairwise difference between four species shows that beetles use species-specific preference for definite combinations of tactics. Effective learning allows carabids to penetrate into ant foraging territory and partly avoide interference competition. It seems that red wood ants are not inclined to learn to avoid collisions with competing carabid species. Instead, they recognize an "enemy's image" and selectively attack relatively small predatory carabids rather than herbivorous species. Experiments with dummy beetles suggest that ants react for several hierarchically organized key characteristics of competitors such as speed of movement, dark color, bilateral symmetry, protuberances (legs, antennae), and smell. Among "professional" groups in ant family, guards and hunters react to beetles aggressively, whereas aphid tenders ignore them. Sophisticated combination of flexible and innate behavioral patterns enables insects to share territories and interact in the mode of relatively mild, spatial, competition instead of predation. Eliciting sets of hierarchically organized features of competitors that govern adjustment of spatial distribution in insects' community enable us to integrate ideas of classic and cognitive ethology.     

Interactive disturbance effects of two disparate ecosystem engineers in North American shortgrass steppe

Disturbances such as fire, grazing, and soil mixing by animals interact to shape vegetation in grassland ecosystems. Animal-generated disturbances are unique in that they arise from a suite of behaviors that are themselves subject to modification by external factors. The manner in which co-occurring animal taxa interact to alter vegetation is a function of their respective behaviors, which shape the characteristics (e.g., the magnitude or extent) of their disturbances. To determine whether prairie dogs (Cynomys ludovicianus) and harvester ants (Pogonomyrmex occidentalis) interactively alter vegetation structure and heterogeneity on the Colorado shortgrass steppe, we characterized the size, dispersion, and vegetation of prairie dog burrow mounds and ant nests (located on and off prairie dog colonies) and vegetation growing beyond mound and nest perimeters. Ants located on prairie dog colonies engineered significantly larger nests and disturbed nearly twice as much total soil area as their off-colony counterparts. Ant nests were overdispersed both on and off prairie dog colonies, while prairie dog mounds were randomly dispersed. Where harvester ants and prairie dogs co-occur, the overdispersed pattern of on-colony ant nests is in effect "overlaid" onto the random pattern of prairie dog mounds, resulting in a unique, aggregated pattern of soil disturbance. Ant nests on prairie dog colonies had significantly less vegetation and lower plant species diversity than did prairie dog mounds, while off-colony nests were similar to mounds. These results suggest that ant nests are more highly disturbed when located on prairie dog colonies. Beyond nests proper, ants did not appear to alter vegetation in a manner distinct from prairie dogs. As such, the interactive effects of prairie dogs and ants on vegetation arise mainly from the disturbance characteristics of mounds and nests proper.